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+--- Thread: PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP (/Thread-PoseAbs-on-ITEM-TYPE-TOOL-returns-flange-pose-not-TCP)
PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP-j_cso-12-22-2022
There's probably code that relies on this behavior so I imagine you can't fix it, but the docs should at least mention it. Observed in v5.4.3
RE: PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP-Alex-12-22-2022
You can useitem.PoseTool()as a workaround
RE: PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP-j_cso-12-22-2022
Looks like that gives TCP relative to the flange, so you'd have to do extra math to get a PoseAbs from that
RE: PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP-Albert-12-22-2022
这是正确的。计算的绝对姿态the TCP you can do the following:
Code:
tool_pose_abs = tool.PoseAbs() * tool.PoseTool()
RE: PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP-Albert-12-22-2022
This is not a bug so I'm moving this thread to the API section.
This type of behaviour should be expected in older and future versions.
RE: PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP-Sam-12-23-2022
Let me join the party!
If you are looking for the TCP with regards to any other item, including the station, you can use this:
//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Item.PoseWrt
//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolinkutils.getPoseWrt
RE: PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP-j_cso-01-02-2023
Thanks guys.